/*
 * Copyright (c) 2010, Jim Hollinger
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the name of Jim Hollinger nor the names of its contributors
 *     may be used to endorse or promote products derived from this
 *     software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef NMEAJGP_NMEA_OPEN_JAUS_COMPONENT_H
#define NMEAJGP_NMEA_OPEN_JAUS_COMPONENT_H

#include "jaus.h"
#include "openJaus.h"

namespace logger {
    class Logger;
};

namespace nmeajgp {

class NmeaInterface;
class NmeaStatus;

class NmeaOpenJausComponent {
    friend static void processMessage_callback(OjCmpt, JausMessage);
    friend static void processState_callback(OjCmpt);

public:
    NmeaOpenJausComponent(NmeaInterface *theInterface, logger::Logger *logger);
    ~NmeaOpenJausComponent();
    bool init(double componentRate_hz);
    bool start();
    void stop();

protected:
    void processMessage(OjCmpt cmpt, JausMessage rxMessage);
    void processState(OjCmpt cmpt);
    void fillInGlobalPose(ReportGlobalPoseMessage reportGlobalPose);

protected:
    OjCmpt          jausComponent;
    NmeaInterface  *nmeaInterface;
    NmeaStatus     *nmeaStatus;
    logger::Logger *log;
};

} /* namespace nmeajgp */

#endif /* NMEAJGP_NMEA_OPEN_JAUS_COMPONENT_H */
